| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 101 | DRAPE UNIT | US15804025 | 2017-11-06 | US20180078325A1 | 2018-03-22 | Masaru YANAGIHARA; Kosuke KISHI |
| To keep a clean area separated from an unclean area, a drape unit for separating the manipulator that has a treatment section at a distal end of an elongated section and that has at a proximal end a proximal-end drive unit from the base including, on a substantially horizontal top surface, a drive source to which the proximal-end drive unit is detachably connected, the drape unit includes: a drape main body that has an opening from which the drive source is exposed; and an adaptor that is interposed between the drive source and the proximal-end drive unit, that is disposed with a gap vertically above the opening, and that covers the entire opening, the adaptor includes a force transmission unit for transmitting the driving force from the drive source to the proximal-end drive unit. | ||||||
| 102 | MASTER AND SLAVE POOL CLEANING ROBOTS | US15702774 | 2017-09-13 | US20180071908A1 | 2018-03-15 | Sharon Goldenberg; Yair Hadari; Ofer Regev; Shay Witelson |
| A set of pool cleaning robots for cleaning a pool, wherein the set includes a master pool cleaning robot and a slave pool cleaning robot. | ||||||
| 103 | Robot Operating State Switching Method and System | US15537529 | 2016-07-22 | US20170351236A1 | 2017-12-07 | Qingyun Xu; Ran Wei; Wei Wang; Fandong Meng; Jianhui Li; Jinwen Hou; Tao Qiao |
| The present invention discloses a method and system for switching an operating state of a robot. The method comprises the following steps of: providing an excitation device for an opening terminal and an excitation device for a closing terminal on a mask of the robot; transmitting, by the excitation device, a mask state signal to a slave computer processor when the mask is opened or closed; by the slave computer processor, processing the received mask state signal and then transmitting the processed mask state signal to a master computer processor; and controlling, by the master computer processor, the switchover of the operating state of the robot according to the received processed mask state signal. With regard to the technical solutions of the present invention, through the opening and closing of a mask, the system of a robot can be in two operating states and perform different functions. | ||||||
| 104 | MEDICAL MANIPULATOR SYSTEM AND METHOD FOR CONTROLLING THEREOF | US15597341 | 2017-05-17 | US20170252116A1 | 2017-09-07 | Ryohei OGAWA; Kosuke KISHI; Keigo TAKAHASHI |
| A medical manipulator system including: a medical manipulator having a joint; an operating section having an operating system; and a control unit controlling the medical manipulator according to an operation applied to the operating section. The operating section includes a switch enters or releases a command. The control unit determines whether a deviation between the joint and the operating system exceeds a threshold while the command is entered, carries out a first motion for moving the joint by a displacement corresponding to the displacement of the operating system if the deviation is equal to or smaller than the threshold, carries out a second motion for approaching the joint to the operating system angle if the deviation exceeds the threshold, and stops the motion for approaching the joint to the operating system angle when the command is released when the deviation exceeds the threshold. | ||||||
| 105 | APPARATUS AND METHOD FOR ENABLING RAPID CONFIGURATION AND RECONFIGURATION OF A ROBOTIC ASSEMBLAGE | US15492517 | 2017-04-20 | US20170217018A1 | 2017-08-03 | Richard A. Skrinde |
| Modular components form a robotic assembly. the mod-components include modules and tools, each have a set of functions and capabilities, are rapidly configured-reconfigured to function cooperatively, creating a configurable robotic assemblage. Each mod-component incorporates a standardized connector mating with any other standardized connector in an interchangeable manner providing mechanical stability, power, and signals therebetween. Each mod-component incorporates a processor, data storage for mod-component identity, status, and programmable functionality, and for responding to commands. Storage is reprogrammed while the robot is operational, altering both commands and responses. After interconnection, inter-module power and communication are established and each modular component identifies itself and its functionality, thereby providing “plug and play” configuration. | ||||||
| 106 | Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses | US15488227 | 2017-04-14 | US20170215976A1 | 2017-08-03 | William C. Nowlin; Paul W. Mohr; Bruce M. Schena; David Q. Larkin; Gary S. Guthart |
| Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided. | ||||||
| 107 | SURGICAL-MANIPULATOR OPERATING DEVICE AND SURGICAL-MANIPULATOR SYSTEM | US15374139 | 2016-12-09 | US20170086933A1 | 2017-03-30 | Ryohei OGAWA; Kosuke KISHI |
| A device for operating a surgical manipulator including, at a distal end of an elongate shaft: a rotational joint that is rotatable about a longitudinal axis of the shaft; and a flexing joint that is on a distal-end side of the rotational joint and that can be flexed about an axis that intersects the longitudinal axis. A surgical-manipulator operating device including: a gripping portion that is gripped by an operator; a rotation input portion that is provided with a rotating member attached to the gripping portion in a rotatable manner and with which rotation instructions for the rotational joint are input in accordance with rotational angles of the rotating member; and flexion input portions with which flexion instructions for the flexing joint are input in directions corresponding to fixed circumferential-direction operating positions on the rotating member. | ||||||
| 108 | Master-Slave System | US15307841 | 2015-04-28 | US20170050310A1 | 2017-02-23 | Katsuya KANAOKA |
| A master-slave system (1) according to the present invention includes a slave actuator (As1 to As3) for generating a slave driving force (τs) to control a slave robot in terms of driving force, an effective driving force sensor (Fs1 to Fs3) for measuring a slave effective driving force (τsa) actually acting on a terminal output axis of the slave actuator (As1 to As3), and a slave target effective driving force calculating device (3) for calculating a slave target effective driving force (τsad) which is a target value for the slave effective driving force (τsa), on the basis of a master operating force (fm) applied to the master robot by an operator (U). The slave actuator (As1 to As3) generates the slave driving force (τs) on the basis of the slave target effective driving force (τsad) and the slave effective driving force (τsa). | ||||||
| 109 | Software center and highly configurable robotic systems for surgery and other uses | US14462507 | 2014-08-18 | US09554859B2 | 2017-01-31 | William C. Nowlin; Paul W. Mohr; Bruce M. Schena; David Q. Larkin; Gary S. Guthart |
| Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided. | ||||||
| 110 | Methods and systems for multirobotic management | US14679457 | 2015-04-06 | US09513624B1 | 2016-12-06 | Ryan Hickman; Chaitanya Gharpure |
| Multirobotic management can involve communications between a command or leader robot and one or more client or follower robots through a cloud computing system. In an example implementation, a leader robot can receive first sensory data captured by a first follower robot and second sensory data captured by a second follower robot, determine a command function based on at least one of the first sensory data and the second sensory data, and communicate with at least one of the first follower robot and the second follower robot based on the command function. | ||||||
| 111 | TELEPRESENCE BASED INVENTORY PICK AND PLACE OPERATIONS THROUGH ROBOTIC ARMS AFFIXED TO EACH ROW OF A SHELF | US15077931 | 2016-03-23 | US20160297611A1 | 2016-10-13 | Jeff Williams; Ravi Bhaskaran; Charlie Martin |
| Disclosed are a system and/or a method of telepresence based inventory pick and place operations through actuator controlled robotic arms affixed to each row of a shelf. A method includes mounting a robotic arm at an end of a row of a shelf of inventory on a set of rails affixed to the row of a shelf. The robotic arm is permitted to move horizontally along the row of the shelf. The robotic arm is repositioned along the three axes using a set of actuators. A haptic motion of a human user is mirrored that is remotely using a positioning device (e.g., human may feel the feedback of the remote arm as it touches the objects). An item is placed on a counting platform in front of the robotic arm. The items are placed automatically in the designated location down through a transport means when a pick operation is completed. | ||||||
| 112 | MASTER MANIPULATOR | US15159126 | 2016-05-19 | US20160256231A1 | 2016-09-08 | Ryohei OGAWA |
| A master manipulator for operating a driving of a slave manipulator includes a grip portion that is positioned in a clean area, gripped by an operator, and provided with a predetermined operating member; and an arm portion that is positioned in an unclean area, and with which the grip portion is directly or indirectly connected. The grip portion has a movable member that moves in conjunction with displacement of the operating member and the arm portion has a position detection portion that detects the position of the movable member. | ||||||
| 113 | Tele-operation system and control method thereof | US13766886 | 2013-02-14 | US09327396B2 | 2016-05-03 | Kyung Rock Kim |
| A tele-operation system enabling a robot arm to move by following a motion of a motion of a hand of a user without an additional mechanical apparatus, the tele-operation system including a slave robot having a robot arm, a master console configured to detect a gesture of a user, and to control the slave robot from a remote place so that the slave robot moves by following the gesture of the user. | ||||||
| 114 | ROBOT SYSTEM CONTROL METHOD AND ROBOT SYSTEM | US14775694 | 2014-03-17 | US20160023355A1 | 2016-01-28 | TAKAMICHI KOMATSU; TATSUYA IKEDA |
| A robot system control method includes a first step through a fifth step. Particularly in the second step, a second transformation matrix that represents the positional relation between a first slave robot and a second slave robot is generated and stored in a master robot. In the fourth step, based on a second command obtained using a first transformation matrix and the second transformation matrix, the master robot instructs the second slave robot to operate. In the fifth step, the first slave robot and the second slave robot perform a cooperative operation with the master robot. Thus, in the state where a working robot that can perform TCP matching with only part of the other robots is set to a master robot, all of the robots can perform a cooperative operation. | ||||||
| 115 | Manipulator system | US14147762 | 2014-01-06 | US09204934B2 | 2015-12-08 | Ryohei Ogawa; Kosuke Kishi |
| A manipulator system includes a master manipulator configured to send an input command, a slave manipulator configured to operate according to the input command, an image capturing unit configured to acquire an image of an object, a display device placed in front of the operator and configured to display the image acquired by the image capturing unit, a detection device configured to detect the direction of an operator's face of the operator with respect to the display device, and a control unit configured to determine whether the direction of the operator's face is within a predetermined angle with respect to the display device based on the detection result in the detection device, and to shift an operation mode of the slave manipulator between a first control mode and a second control mode in which an operation is limited more than in the first control mode based on a determination result. | ||||||
| 116 | Apparatus and method for enabling rapid configuration and reconfiguration of a robotic assemblage | US14120610 | 2014-06-09 | US20140350722A1 | 2014-11-27 | Richard Arthur Skrinde |
| Modular components form a robotic assembly. the mod-components include modules and tools, each have a set of functions and capabilities, are rapidly configured-reconfigured to function cooperatively, creating a configurable robotic assemblage. Each mod-component incorporates a standardized connector mating with any other standardized connector in an interchangeable manner providing mechanical stability, power, and signals therebetween. Each mod-component incorporates a processor, data storage for mod-component identity, status, and programmable functionality, and for responding to commands. Storage is reprogrammed while the robot is operational, altering both commands and responses. After interconnection, inter-module power and communication are established and each modular component identifies itself and its functionality, thereby providing “plug and play” configuration. | ||||||
| 117 | Software center and highly configurable robotic systems for surgery and other uses | US13175550 | 2011-07-01 | US08823308B2 | 2014-09-02 | William C. Nowlin; Paul W. Mohr; Bruce M. Schena; David Q. Larkin; Gary S. Guthart |
| Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided. | ||||||
| 118 | OPERATION INPUT DEVICE AND METHOD OF INITIALIZING OPERATION INPUT DEVICE | US14253925 | 2014-04-16 | US20140229007A1 | 2014-08-14 | Kosuke KISHI |
| An operation input device that has multi jointed arms includes: a holding unit that holds proximal ends of the multi-jointed arms in a state in which a relative positional relationship between the proximal ends is fixed; a detection unit that detects a joint movement amount that represents a movement of a joint by a rotation angle or a translational displacement from an unknown initial joint value; engagement units that are provided in distal ends of the multi jointed arms; a data acquisition unit that acquires a plurality of sets of joint movement amounts detected by the detection unit in a time series when engaging and moving the distal ends; and an initial value calculation unit that calculates the unknown initial joint value under a condition that a relative positional relationship between the distal ends is fixed via the engagement units. | ||||||
| 119 | Anthropomorphic force-reflective master arm | US13099140 | 2011-05-02 | US08770905B2 | 2014-07-08 | Mayez Al-Mouhamed; Nesar Merah |
| The anthropomorphic force-reflective master arm is a light, anthropomorphic, back-drivable, six degree of freedom (DOF) master arm designed to control the motion of a remote slave device having arbitrary structure. Three of the link members are rotationally coupled to each other to form a handle, such that axes of rotation of each of the handle link members intersects at the user's hand position. The kinematics of the master arm is simplified to two independent sub-systems, which are the hand position and hand orientation. | ||||||
| 120 | MANIPULATOR SYSTEM | US14147762 | 2014-01-06 | US20140121834A1 | 2014-05-01 | Ryohei OGAWA; Kosuke KISHI |
| A manipulator system includes a master manipulator configured to send an input command, a slave manipulator configured to operate according to the input command, an image capturing unit configured to acquire an image of an object, a display device placed in front of the operator and configured to display the image acquired by the image capturing unit, a detection device configured to detect the direction of an operator's face of the operator with respect to the display device, and a control unit configured to determine whether the direction of the operator's face is within a predetermined angle with respect to the display device based on the detection result in the detection device, and to shift an operation mode of the slave manipulator between a first control mode and a second control mode in which an operation is limited more than in the first control mode based on a determination result. | ||||||
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